Landmark, apparatus, and method for effectively determining position of autonomous vehicles

ABSTRACT

A landmark used to effectively determine the location of an autonomous vehicle, and a self-localization apparatus and method using the landmark are provided. In the self-localization method, first, first and second outer line information and shape information are extracted from a landmark image received from a camera. Next, a projective invariant is calculated from the shape information and stored in a hash table. Thereafter, the calculated projective invariant is compared with reference projective invariants for a plurality of landmarks stored in a predetermined data storage area in the form of a hash table, thereby determining which landmark corresponds to the landmark image. Then, information on the distance and orientation of the determined landmark with respect to the autonomous vehicle is analyzed in response to the first and second outer line information.

[0001] This application claims the priority of Korean Patent Application No. 2002-59778, filed on Oct. 1, 2002, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein in its entirety by reference.

BACKGROUND OF THE INVENTION

[0002] 1. Field of the Invention

[0003] The present invention relates to image recognition and tracking performed in application fields using images, such as, automation systems, intelligent vehicle systems, and the like, and more particularly, to a landmark used to effectively determine the location of an autonomous vehicle such as a mobile robot, and a self-localization apparatus and method using the landmark.

[0004] 2. Description of the Related Art

[0005] With an increase in the interest in mobile robots, various types of such robots have been actively developed. Mobile robots are applied to various fields, and must have four functions associated with their movements in order to navigate autonomous vehicles.

[0006] The fist function is a map building function, the second one is a self-localization or self-positioning function, the third one is an obstacle avoidance function, and the fourth one is a path planning function.

[0007] The map building function, by which a map about a given space, that is, a working environment, is built, can be considered essential to plan a work to be allocated to an autonomous vehicle. The self-localization or self-positioning function denotes a function to self-ascertain the present location in order to accomplish a given command, for example, a command “move from the current location to a new space.” The obstacle avoidance function denotes sensing and avoiding an unexpected obstacle that occurs during execution of a scheduled work. The path planning function denotes planning a progress of a robot from its initial state to a final target state.

[0008] In particular, an autonomous vehicle can be more easily navigated by providing it with accurate information on its location and orientation. The information can be provided to autonomous vehicles by a dead reckoning method using distances and directions, an inertial navigation using an accelerometer and a gyrosenser, and a satellite-based positioning method. However, these methods have drawbacks. For example, the dead reckoning method has a low accuracy due to an accumulation of errors caused by slipping of autonomous vehicles. The inertial navigation has a low accuracy due to an accumulation of errors caused by integration. The satellite-based positioning method requires a secure communications path with a satellite and cannot provide accurate location information necessary for orbit correction.

[0009] Besides, a self-positioning method can be used, in which location and orientation information can be provided to autonomous vehicles using landmarks disposed at pre-known locations within a work environment.

[0010] The landmarks are read and processed by a vision system, which is carried by an autonomous vehicle. If a landmark is detected and recognized by the vision system, the unique location of the detected landmark is determined, and the location of the autonomous vehicle is determined in accordance with the location of the landmark.

[0011] However, current methods using landmarks have some problems. If a working environment is messy or unevenly bright, or if parts of landmarks are occluded, errors occur when the landmarks are detected and recognized. Consequently, errors exist in a determined location of an autonomous vehicle. Also, the current methods using landmarks make it difficult to ascertain information on a location based on the X and Y axes of an image plane and information on an angle made by a camera with each of the landmarks from an acquired landmark image.

SUMMARY OF THE INVENTION

[0012] The present invention provides a landmark used to effectively determine the location of an autonomous vehicle within a given space, and a self-localization apparatus and method using the landmark for an autonomous vehicle.

[0013] According to an aspect of the present invention, there is provided a landmark including first and second outer line areas and a shape area. The first outer line area is used to ascertain the X and Y axes of an image plane upon self-localization of an autonomous vehicle. The second outer line area is used to ascertain a deviation degree between a camera and a landmark upon acquisition of the image plane. The shape area represents the unique shape of the landmark.

[0014] According to another aspect of the present invention, there is provided an apparatus for determining the location of an autonomous vehicle. In the apparatus, a feature data extractor extracts first and second outer line information and shape information from a landmark image received from a camera. A projective invariant calculator calculates a projective invariant from the shape information. A data storage unit stores the calculated projective invariant and reference projective invariants for a plurality of landmarks in the form of a hash table. A hash table search unit determines which landmark corresponds to the landmark image by comparing the calculated projective invariant with the reference projective invariants for the plurality of reference landmarks. A distance/orientation information analyzer analyzes information on the distance and orientation of the determined landmark with respect to the autonomous vehicle in response to the first and second outer line information.

[0015] According to still another aspect of the present invention, there is provided an autonomous vehicle having a self-localization function. In the autonomous vehicle, an image acquiring unit captures a landmark image received from a camera in a predetermined image format. A main controller performs a self-localization function and an overall control for operating the autonomous vehicle, in response to the landmark image captured by the image acquiring unit. A movement controller controls the movement of the autonomous vehicle in response to the control of the main controller. The main controller includes a feature data extractor, a projective invariant calculator, a data storage unit, a hash table search unit, and a distance/orientation information analyzer. The feature extractor extracts first and second outer line information and shape information from the landmark image. The projective invariant calculator calculates a projective invariant from the shape information. The data storage unit stores the calculated projective invariant and reference projective invariants for a plurality of landmarks in the form of a hash table. The hash table search unit determines which landmark corresponds to the landmark image by comparing the calculated projective invariant with the projective invariants for the plurality of reference landmarks. The distance/orientation information analyzer analyzes information on the distance and orientation of the determined landmark with respect to the autonomous vehicle in response to the first and second outer line information.

[0016] According to yet another aspect of the present invention, there is provided a method of determining the location of an autonomous vehicle. In the method, first and second outer line information and shape information are extracted from a landmark image received from a camera. Next, a projective invariant is calculated from the shape information and storing the projective invariant in the form of a hash table. Thereafter, it is determined which landmark corresponds to the landmark image by comparing the calculated projective invariant with projective invariants for a plurality of reference landmarks stored in a predetermined data storage area in the form of a hash table. Then, information on the distance and orientation between the determined landmark and the autonomous vehicle is analyzed in response to the first and second outer line information.

BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which:

[0018]FIG. 1 shows a configuration of a landmark according to a preferred embodiment of the present invention;

[0019]FIG. 2 shows various landmarks according to the present invention;

[0020]FIG. 3 is a block diagram showing an example of an autonomous vehicle having a self-localization function, according to a preferred embodiment of the present invention;

[0021]FIG. 4 shows the exterior of the camera of FIG. 3;

[0022]FIG. 5 shows a pin-hall camera model for the camera of FIG. 4;

[0023]FIG. 6 is a flowchart illustrating a self-localization method performed in the main control unit of FIG. 3;

[0024]FIG. 7 shows a process of extracting feature data to be used upon self-localization from a landmark image acquired by a camera;

[0025]FIG. 8 is a view for explaining a projective invariant calculation method performed in step 1322 of FIG. 6;

[0026]FIG. 9 is a graph showing the result of the calculation of a projective invariant for the shape of the landmark of FIG. 8;

[0027]FIG. 10 shows hash tables in which the projective invariants of individual landmarks are established as reference values in order to recognize landmarks;

[0028]FIG. 11 shows hash tables in which the projective invariants of landmarks acquired by a camera are established to recognize landmarks; and

[0029]FIG. 12 shows a process of extracting information on the distance and orientation of a landmark with respect to an autonomous vehicle from data on a second outer line (i.e., an oval) which are extracted from a landmark image projected by a camera.

DETAILED DESCRIPTION OF THE INVENTION

[0030]FIG. 1 shows a configuration of a landmark 10 according to a preferred embodiment of the present invention. FIG. 2 shows various landmarks 10 a through 10 d according to the present invention.

[0031] Referring to FIG. 1, the landmark 10 includes a first outer line area 11, a color area 12, a second outer line area 13, and a shape area 14. The first outer line area 11 corresponds to the outer line of the landmark 10 in a rectangular shape and is used as an index for indicating the X and Y axes of an image plane upon self-localization of an autonomous vehicle. The second outer line area 13 is formed in a perfect circular shape with a predetermined radius. To ascertain a degree of deviation between a camera and an object, a deformation of the circle 13 generated upon projection of the camera upon the landmark 10 is analyzed, that is, a phenomenon where a perfect circle appears to be an oval is analyzed. The color area 12, which exists between the first and second outer line areas, is represented in different colors for different landmarks, thus contributing to an easy, quick distinction of the landmarks. The shape area 14 represents different shapes for different landmarks in order to distinguish between the landmarks. An object drawn in the shape area 14 may be a simple geometrical shape, symbol, or figure. However, since a self-localizing apparatus and a self-localizing method according to the present invention can perform an accurate recognition of complicate landmarks as well as simple landmarks, a landmark with a complicate shape can be taken as an example.

[0032] Referring to FIG. 2, first through fourth landmarks 10 a through 10 d include different color areas 12 a through 12 d, respectively, and different objects, that is, a butterfly 14 a, a bear 14 b, a bird 14 c, and a frog 14 d, respectively. If a working environment is the inside of a house, the first landmark 10 a with a butterfly picture represents a kitchen, the second landmark 10 b with a bear picture represents a warehouse, the third landmark 10 c with a bird picture represents a living room, and the fourth landmark 10 d with a frog picture represents a bedroom, an autonomous vehicle can determine its location within the house by recognizing the first through fourth landmarks 10 a through 10 d. Here, in the self-localizing apparatus and the self-localizing method according to the present invention, projection invariant information which is not affected by peripheral environments or noise upon extraction of location information is used, and accordingly, an accurate location can be determined even if a landmark image acquired by an autonomous vehicle 100 is distorted.

[0033]FIG. 3 is a block diagram showing the autonomous vehicle 100 having a self-localization function according to a preferred embodiment of the present invention. Referring to FIG. 3, the autonomous vehicle 100 includes a camera 110, an image acquiring unit 120, a main control unit 130, and a movement controller 140.

[0034] The camera 110 may be a standard charge-coupled device (CCD) camera or a web camera in which an Internet server and a camera are combined. Web cameras generate distorted images quite frequently as compared with general CCD cameras, but can be easily popularized by virtue of their low prices. Because the autonomous vehicle 100 according to the present invention uses projection invariant information which is not affected by peripheral environments or noise upon recognition of a landmark, excellent recognition results can be obtained even if a low-priced web camera is used instead of an expensive CCD camera as the camera 100. Thus, self-localization of an autonomous vehicle can be economically accomplished.

[0035] The image acquiring unit 120 is connected to the camera 110 and captures an image received from the camera 100 into a predetermined image format. An image acquired by the image acquiring unit 120 is input to the main control unit 130 and used upon recognition of the location of the autonomous vehicle 100.

[0036] The main control unit 130 performs an overall control action to operate the autonomous vehicle 100. That is, the main control unit 130 performs a self-localization function in order to effectively control the autonomous vehicle 100. To do this, the main control unit 130 includes a feature data extractor 131, a projective invariant calculator 132, a data storage unit 133, a hash table search unit 134, and a distance/orientation information analyzer 135.

[0037] The feature data extractor 131 divides a landmark image acquired by the image acquiring unit 120 into first and second outer line areas and a shape area and extracts first and second outer line information and shape information to serve as feature data for self-localization from the first and second outer line areas and the shape area, respectively. The projective invariant calculator 132 calculates a projective invariant from the shape information and stores the calculated projective invariant in the form of a hash table in the data storage unit 133. The projective invariant maintains a constant value without being affected by a deformation of a landmark image caused by various factors. The data storage unit 133 stores the projective invariant of the landmark image calculated by the projective invariant calculator 132 and also the projective invariants of a plurality of landmarks in the form of a hash table to serve as reference data to be compared with the calculated projective invariant in the form of a hash table. The hash table search unit 134 compares the projective invariant of the landmark image acquired by the camera 110 with the projective invariants of the plurality of landmarks stored as reference data in the form of a hash table in an area of the data storage unit 133 and determines which landmark among the plurality of reference landmarks is identical with the landmark corresponding to the acquired landmark image. The distance/orientation information analyzer 135 analyzes information on the distance and orientation of the landmark of interest with respect to the autonomous vehicle 100 in response to the first and second outer line information extracted by the feature data extractor 131.

[0038] The movement controller 140 controls the movement of the autonomous vehicle 100 under the control of the main control unit 130.

[0039]FIG. 4 shows the exterior of the camera 110 of FIG. 3, and FIG. 5 shows a pin-hall camera model for the camera of FIG. 4. Referring to FIG. 4, the camera 110 is roughly comprised of a main body 111, a CCD array 112, and a lens 114. The lens 114 corresponds to the eye lens of a human being. The CCD array 112 is an image plane on which an image projected through the lens 114 lands, and acts as the retina of a human eye. When the focal point of the lens 114 has been adjusted to the infinity, the distance from the center of the lens 114 to the CCD array 112 is referred to as a focal length, on which the appearance of an image depends. Although it will be described in detail later, the focal length is used as an essential parameter in measuring the distance between a camera and a subject (for example, a landmark).

[0040]FIG. 5 shows results of modeling of the components of the camera 110 of FIG. 4 using a pin-hall camera model. A projective transformation expression for an image in the pin-hall camera model can be expressed as in Equation 1: $\begin{matrix} {\begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = {{\frac{1}{t_{31}^{X} + t_{32}^{Y} + t_{33}^{Z} + t_{34}}\begin{bmatrix} t_{11} & t_{12} & t_{13} & t_{14} \\ t_{21} & t_{22} & t_{23} & t_{24} \\ t_{31} & t_{32} & t_{33} & t_{34} \end{bmatrix}}\begin{bmatrix} X \\ Y \\ Z \\ 1 \end{bmatrix}}} & (1) \end{matrix}$

[0041] wherein (u, v, 1) denotes a coordinate of a point (q) defined on an image plane, (X, Y, Z, 1) denotes a point (P) corresponding to the point (q) on an object coordinate system, and t_(ij) denotes the ij element of a deformation matrix between an object plane and the image plane.

[0042] If the object is a two-dimensional plane, that is, Z is equal to 0, Equation 1 is transformed into Equation 2: $\begin{matrix} {\begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = {{\frac{1}{{t_{31}X} + {t_{32}Y} + t_{34}}\begin{bmatrix} t_{11} & t_{12} & t_{14} \\ t_{21} & t_{22} & t_{24} \\ t_{31} & t_{32} & t_{34} \end{bmatrix}}\begin{bmatrix} X \\ Y \\ 1 \end{bmatrix}}} & (2) \end{matrix}$

[0043] As shown in Equations 1 and 2, a process of acquiring an image from the object has nonlinear characteristics. However, the self-positioning apparatus and method according to the present invention are not affected by the nonlinear characteristics that are represented during image acquisition and have robust characteristics against noise or a change in the inclination angle of an image.

[0044]FIG. 6 is a flowchart illustrating a self-localization method performed in the main control unit 130 of FIG. 3. Referring to FIG. 6, in step 1310, feature data necessary for landmark recognition is extracted from a landmark image acquired by the camera 110. In step 1320, the feature data extracted from the landmark image is compared with the feature data of reference landmark images pre-defined in a predetermined data storage area in order to recognize which landmark among a plurality of landmarks corresponds to the landmark image acquired by the camera 110. The feature data of the landmark image is stored in the form of a hash table in order to facilitate a fast search.

[0045] In step 1350, after the location of the autonomous vehicle 100 is roughly recognized by landmark recognition performed in step 1320, information on the distance and orientation between the recognized landmark and the autonomous vehicle 100 is analyzed to recognize the detailed location of the autonomous vehicle 100. Thereafter, in step 1360, a calibration is performed to convert a distance value in the image plane (X and Y axes) calculated in step 1350 into a physical distance value in a real space.

[0046] The landmark feature data extraction performed in step 1310 will now be described in greater detail.

[0047]FIG. 7 shows a process of extracting feature data to be used upon self-localization from a landmark image 13000 acquired by the camera 110. Referring to FIGS. 6 and 7, in step 1311, the first outer line area 11 having a rectangular shape is extracted from the landmark image 13000 acquired by the camera 110. Then, in step 1312, the second outer line area 13 having a circular (or oval) shape is extracted from the landmark image 13000. Thereafter, in step 1313, the shape area 14 is extracted from the landmark image 13000.

[0048] The first rectangular outer line area 11 extracted in step 1311 is used to distinguish between the X and Y axes of an acquired image. The second outer line area 13 is used to ascertain an angle formed between a camera and an object by analyzing a distortion of a circle caused upon camera projection upon a landmark.

[0049] In step 1350, the information on the extracted first and second outer line areas 11 and 13 is analyzed to ascertain information on the detailed location of the autonomous vehicle 100. This step will be described later in greater detail with reference to FIG. 12.

[0050] The shape area of the landmark image extracted in step 1313 is used in step 1320 of recognizing which landmark corresponds to the landmark image. In step 1322, a projective invariant is calculated from the shape area of the acquired landmark image and stored in a predetermined data storage area in the form of a hash table. Here, the predetermined data storage area has already stored projective invariant values for the landmarks in the form of a hash table. The pre-stored projective invariants values are compared with the projective invariant of the acquired landmark image so as to recognize which landmark corresponds to the acquired landmark image. In other words, in step 1324, the projective invariant obtained in step 1322 is compared with the projective invariants of the individual landmarks stored as reference data in the hash table in order to recognize which landmark corresponds to the acquired landmark image.

[0051] If it is recognized in step 1324 that the acquired landmark image corresponds to a living room among various places inside the house, it is roughly recognized that the autonomous vehicle 100 is located in the living room. Here, the detailed location of the autonomous vehicle 100 in the living room is obtained by the analysis of the first and second outer line areas 11 and 13 as described above.

[0052]FIG. 8 is a view for explaining a projective invariant calculation method performed in step 1322 of FIG. 6. FIG. 9 is a graph showing the result of the calculation of a projective invariant for the shape of the landmark of FIG. 8.

[0053] A projective invariant I used as a reference parameter upon landmark recognition according to the present invention is calculated by using Equation 3: $\begin{matrix} {I = {\frac{{\det \left( {q_{5}q_{1}q_{4}} \right)}{\det \left( {q_{5}q_{2}q_{3}} \right)}}{{\det \left( {q_{5}q_{1}q_{3}} \right)}{\det \left( {q_{5}q_{2}q_{4}} \right)}} = \frac{{\det \left( {P_{5}P_{1}P_{4}} \right)}{\det \left( {P_{5}P_{2}P_{3}} \right)}}{{\det \left( {P_{5}P_{1}P_{3}} \right)}{\det \left( {P_{5}P_{2}P_{4}} \right)}}}} & (3) \end{matrix}$

[0054] wherein P denotes an object point, and q denotes an image point corresponding to the object point P (see FIG. 5). Det (·) in Equation 3 is defined as in Equation 4: $\begin{matrix} {{{\det \left( {q_{1}q_{2}q_{3}} \right)} = {f\begin{bmatrix} x_{1} & x_{2} & x_{3} \\ y_{1} & y_{2} & y_{3} \\ 1 & 1 & 1 \end{bmatrix}}}{{\det \left( {P_{1}P_{2}P_{3}} \right)} = {{f\begin{bmatrix} X_{1} & X_{2} & X_{3} \\ Y_{1} & Y_{2} & Y_{3} \\ 1 & 1 & 1 \end{bmatrix}} = {2^{k}\left( {{Area}\quad {of}\quad \Delta \quad P_{1}P_{2}P_{3}} \right)}}}} & (4) \end{matrix}$

[0055] The projective invariant expressed as in Equations 3 and 4, which is information unchangeable even upon nonlinear deformation as shown in Equation 2, denotes information which basically does not vary even if an image acquired by a camera is deformed.

[0056] A process of calculating a projective invariant from a landmark image acquired by a camera will now be described with reference to FIG. 8. First, an outer line is extracted from a landmark image of FIG. 8 and equally divided into five sections. The coordinates of points X₁(1), X₁(k), X₂(1), X₂(k), X₃(1), X₃(k), X₄(1), X₄(k), X₅(1), and X₅(k) that constitute the five sections are obtained, and then a projective invariant is calculated based on Equations 3 and 4. To be more specific, upon calculation of the projective invariant, the points X₁(1), X₁(k), X₂(1), X₂(k), X₃(1), X₃(k), X₄(1), X₄(k), X₅(1), and X₅(k) move by 1/N times of the length of the outer line of the landmark shape along the outer line thereof until they reach their initial locations. The moving points X₁(1), X₁(k), X₂(1), X₂(k), X₃(1), X₃(k), X₄(1), X₄(k), X₅(1), and X₅(k) are substituted into Equation 3, thereby obtaining Equation 5: $\begin{matrix} {{{I(k)} = \frac{{\det \left( {X_{5}X_{1}X_{4}} \right)}{\det \left( {X_{5}X_{2}X_{3}} \right)}}{{\det \left( {X_{5}X_{1}X_{3}} \right)}{\det \left( {X_{5}X_{2}X_{4}} \right)}}}{{where},\begin{matrix} {{{X_{1}(k)} = \left( {{X(k)},{Y(k)},1} \right)},} \\ {{{X_{2}(k)} = \left( {{X\left( {\frac{N}{5} + k} \right)},{Y\left( {\frac{N}{5} + k} \right)},1} \right)},} \\ {{{X_{3}(k)} = \left( {{X\left( {\frac{2N}{5} + k} \right)},{Y\left( {\frac{2N}{5} + k} \right)},1} \right)},} \\ {{{X_{4}(k)} = \left( {{X\left( {\frac{3N}{5} + k} \right)},{Y\left( {\frac{3N}{5} + k} \right)},1} \right)},} \\ {{X_{5}(k)} = \left( {{X\left( {\frac{4N}{5} + k} \right)},{Y\left( {\frac{4N}{5} + k} \right)},1} \right)} \end{matrix}}} & (5) \end{matrix}$

[0057] wherein 1≦k≦N, and X(k) and Y(k) denote X- and Y-axis coordinate functions, respectively, of the outer line of a landmark image.

[0058] The projective invariant of the landmark shape of FIG. 8 obtained in the above-described method is shown in the graph of FIG. 9. The projective invariant shown in FIG. 9 is maintained constantly even if the landmark image acquired by a camera is deformed. Thus, if the projective invariant is used upon landmark recognition, accurate self-localization can be achieved even when landmark images having nonlinear characteristics such as a pin-hall camera model are used.

[0059]FIG. 10 shows hash tables in which the projective invariants of individual landmarks are established as reference values in order to recognize landmarks. FIG. 11 shows hash tables in which the projective invariants of landmarks acquired by a camera are established.

[0060] Hashing does not denote a search performed by the comparison between key values but an access to addresses where data have been stored, which are directly calculated from key values. A hash table is comprised of n tables by a hashing function capable of obtaining addresses where data have been stored from key values.

[0061] Referring to FIG. 10, if the reference projective invariants of landmarks obtained from the shape of a landmark are expressed as MD_(j)(j)={I_(i)(j), I_(i)(j+1), I_(i)(j+2), . . . , I_(i)(n), . . . , I_(i)(j−1)}, values corresponding to h(I_(i)(j))±h(ΔI_(i)(j)) are stored in the first hash table, and values corresponding to h(I_(i)(j+1))±h(ΔI_(i)(j+1)) are stored in the second hash table. Values corresponding to h(I_(i)(j−1))±h(ΔI_(i)(j−1)) are stored in the n-th hash table.

[0062] Referring to FIG. 11, if a projective invariant obtained from information on a landmark image acquired by a camera are expressed as SD={I(1), I(2), I(3), . . . , I(n)}, values corresponding to h(I(1)) are stored in the first hash table, and values corresponding to h(I(2) are stored in the second hash table. Values corresponding to h(I(n)) are stored in the n-th hash table. In FIGS. 10 and 11, h(·) denotes a hashing function that denotes the address of a bucket used to store data in a hash table.

[0063] As shown in FIGS. 10 and 11, after the reference projective invariants of landmarks and the projective invariant of a landmark image acquired by the camera are stored, the projective invariant of the landmark image acquired by the camera is indexed so as to recognize which projective invariant among the projective invariants of the reference landmarks is similar to the projective invariant of the landmark image acquired by the camera. As a result, a landmark that is the most voted is recognized as the landmark image acquired by the camera. After such landmark recognition, information on the distance and orientation between the recognized landmark and the autonomous vehicle 100 is recognized, which will now be described in greater detail.

[0064]FIG. 12 shows a process of extracting information on the distance and orientation of a landmark with respect to the autonomous vehicle 100 from data on a second outer line (i.e., an oval) which are extracted from a landmark image projected by a camera.

[0065] Examples 23a through 23c of a second oval outer line obtained from a landmark image acquired by a camera are shown in FIG. 12. Referring to FIG. 12, the shape of the second outer line (that is, an oval) of a landmark can be a perfect circle 23 c, an oval 23 b, or an oval 23 a inclined by a predetermined angle because of the nonlinearity of the camera.

[0066] Such a circular or oval figure can be expressed as in an equation of a quadratic section having two parameters x and y and is referred to as a conic section.

[0067] A conic section including a perfect circle and an oval can be expressed in an implicit equation such as Equation 6:

S(x,y)=Ax ²+2Bxy+Cy ²+2(Dx+Ey)+F=0  (6)

[0068] A conic section projected by a camera, that is, a second oval outer line, can be expressed in a matrix format such as Equation 7: $\begin{matrix} {Q = {k\begin{pmatrix} A & B & {D/f} \\ B & C & {E/f} \\ {D/f} & {E/f} & {F/f^{2}} \end{pmatrix}}} & (7) \end{matrix}$

[0069] wherein f denotes the focal length of the camera, and k denotes an arbitrary non-zero constant.

[0070] If a conic section expressed as in Equations 6 and 7 rotates around an arbitrary axis, the relationship between an arbitrary cubic equation (Q) and a cubic equation (Q′) for the rotated conic section is expressed as in Equation 8:

Q′=k′R^(T)QR  (8)

[0071] wherein R denotes a rotation matrix.

[0072] According to the relationship expressed in Equation 8, three-dimensional information (e.g., distance and orientation information) between a landmark and the autonomous vehicle 100 can be extracted when a landmark image is acquired by the autonomous vehicle 100.

[0073] If the second outer line of a landmark has the oval shape 23 a inclined by a predetermined angle, the cubic equation for the oval shape 23 a is the same as Equation 7. If the oval shape 23 a is transformed into an oval located at a standard position as the oval 23 b of FIG. 12, the cubic equation (Q) for the oval 23 a expressed in Equation 7 is transformed into Equation 9: $\begin{matrix} {Q^{\prime} = {k^{\prime}\begin{pmatrix} 1 & O & O \\ O & \alpha & O \\ O & O & {{- \gamma}/f^{2}} \end{pmatrix}}} & (9) \end{matrix}$

[0074] The relationship equation of two cubic equations Q and Q′ is given by Equation 10:

Q′=k′U^(T)QU  (10)

[0075] wherein U is equal to [U₁, U₂, U₃] and denotes a matrix comprised of eigen vectors for an eigen value of a conic equation Q, λ₁, λ₂, λ₃.

[0076] A cubic equation used to transform an oval as the oval 23 b of FIG. 12 into a perfect circle as the perfect circle 23 c of FIG. 12 is given by Equation 11: $\begin{matrix} {Q^{''} = {k^{''}\begin{pmatrix} 1 & O & O \\ O & 1 & {c/f} \\ O & {c/f} & {\left( {c^{2} - \rho^{2}} \right)/f^{2}} \end{pmatrix}}} & (11) \end{matrix}$

[0077] The relationship equation between the cubic equation (Q) of the originally acquired landmark image and the finally-transformed cubic equation (Q′) is given by Equation 12:

Q^(˜)=k^(˜)R^(T)QR  (12)

[0078] wherein R denotes a rotation transformation matrix for axis x′.

[0079] As described above, by transforming the cubic equation for a conic section (that is, a second outer line) extracted from a landmark image acquired by a camera, information on the orientation between a landmark and the autonomous vehicle 100 and information on the distance therebetween are obtained using the relationship equation between the cubic equation extracted from the original acquired landmark image and each of the transformed cubic equations Q′ and Q^(˜). The distance information between a landmark and the autonomous vehicle 100 is obtained using a normal vector (n′) on the image plane where the perfect circle 23 c of FIG. 12 into which the oval 23 b is transformed, a vector (ct′) to the center of the perfect circle 23 c, and a normal distance (d′) to the center of the perfect circle 23 c. a normal vector (n) for the oval 23 a and a vector (ct) and a normal distance (d) to the center of the oval 23 a are obtained from the normal vector (n′), vector (ct′), and the normal distance (d′) and expressed as in Equations 13, 14, and 15, respectively:

n=U Rn′  (13)

ct=U Rct′  (14)

d=λ₁ ^(3/2)Y  (15)

[0080] wherein n′ is (0 0 1)^(T), ct′ is (0−dc/f d)^(T), c is {square root}{square root over ((α−1)(γ+f²))}, α is $\frac{\lambda_{2}}{\lambda_{1}},$

[0081] and γ is ${- f^{2}}{\frac{\lambda_{2}}{\lambda_{1}}.}$

[0082] c(={square root}{square root over ((α−1)(γ+f²)))} denotes a value used to compensate for the difference between the center coordinate values of the perfect circle 23 c and the oval 23 b. Information on the distance between the landmark image 20 a acquired by a camera and the autonomous vehicle 100 can be obtained by tracing equations backward from the equation for the final perfect circle 23 c to the equation for the original oval 23 a.

[0083] While the present invention has been particularly shown and described with reference to exemplary embodiments concerning self-localization of autonomous vehicles such as mobile robots, the present invention is also applicable to image recognition and tracking performed in image application fields, such as automation systems, intelligent vehicle systems, and the like.

[0084] The invention can also be embodied as computer readable codes on a computer readable recording medium. The computer readable recording medium can be any data storage device that can store data which can be thereafter read by a computer system. Examples of the computer readable recording medium include read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and so on. Also, the computer readable codes can be transmitted via a carrier wave such as the Internet. The computer readable recording medium can also be distributed over a network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

[0085] As described above, in a landmark according to the present invention and a self-localizing apparatus and method using the landmark, accurate self-localization can be performed without being affected by the non-linear characteristics of a camera. 

What is claimed is:
 1. A landmark comprising: a first outer line area used to ascertain the X and Y axes of an image plane upon self-localization of an autonomous vehicle; a second outer line area used to ascertain a deviation degree between a camera and a landmark upon acquisition of the image plane; and a shape area representing the unique shape of the landmark.
 2. The landmark of claim 1, wherein the first outer line area has a shape of a rectangle.
 3. The landmark of claim 1, wherein the second outer line area has a shape of a perfect circle with a predetermined radius.
 4. The landmark of claim 1, further comprising a color area formed between the first and second outer line areas and filled with a predetermined color.
 5. An apparatus for determining the location of an autonomous vehicle, the apparatus comprising: a feature data extractor extracting first and second outer line information and shape information from a landmark image received from a camera; a projective invariant calculator calculating a projective invariant from the shape information; a data storage unit storing the calculated projective invariant and reference projective invariants for a plurality of landmarks in the form of a hash table; a hash table search unit determining which landmark corresponds to the landmark image by comparing the calculated projective invariant with the reference projective invariants for the plurality of reference landmarks; and a distance/orientation information analyzer analyzing information on the distance and orientation of the determined landmark with respect to the autonomous vehicle in response to the first and second outer line information.
 6. The apparatus of claim 5, wherein the landmark comprises: a first outer line area having the first outer line information used to distinguish the X and Y axes of an image plane upon self-localization of the autonomous vehicle; a second outer line area having the second outer line information used to ascertain a deviation degree between the camera and the determined landmark upon acquisition of the image plane; and a shape area having the shape information used to distinguish the landmarks from one another.
 7. The apparatus of claim 6, wherein the first outer line area has a shape of a rectangle where the X and Y axes cross each other at a right angle.
 8. The apparatus of claim 6, wherein the second outer line area has a shape of a perfect circle with a predetermined radius.
 9. The apparatus of claim 5, wherein the projective invariant maintains a constant value without being affected by changes in the shape of the landmark image received from the camera.
 10. The apparatus of claim 9, wherein when P denotes an object point, and q denotes an image point corresponding to the object point P, the projective invariant is calculated using the following equation: $I = {\frac{{\det \left( {q_{5}q_{1}q_{4}} \right)}{\det \left( {q_{5}q_{2}q_{3}} \right)}}{{\det \left( {q_{5}q_{1}q_{3}} \right)}{\det \left( {q_{5}q_{2}q_{4}} \right)}} = \frac{{\det \left( {P_{5}P_{1}P_{4}} \right)}{\det \left( {P_{5}P_{2}P_{3}} \right)}}{{\det \left( {P_{5}P_{1}P_{3}} \right)}{\det \left( {P_{5}P_{2}P_{4}} \right)}}}$

wherein det (·) is defined as: ${\det \left( {q_{1}q_{2}q_{3}} \right)} = {f\begin{bmatrix} x_{1} & x_{2} & x_{3} \\ y_{1} & y_{2} & y_{3} \\ 1 & 1 & 1 \end{bmatrix}}$ ${\det \left( {P_{1}P_{2}P_{3}} \right)} = {{f\begin{bmatrix} X_{1} & X_{2} & X_{3} \\ Y_{1} & Y_{2} & Y_{3} \\ 1 & 1 & 1 \end{bmatrix}} = {2^{k}\left( {{Area}\quad {of}\quad \Delta \quad P_{1}P_{2}P_{3}} \right)}}$


11. The apparatus of claim 5, wherein the projective invariant calculator divides the outer line of the landmark shape into n sections, obtains coordinates of points that constitute the n sections, and calculates the projective invariants of the coordinates by moving the coordinates by 1/N times the length of the outer line until the coordinates reach their original locations.
 12. The apparatus of claim 11, wherein when 1≦k≦N, and X(k) and Y(k) denote X- and Y-axis coordinate functions, respectively, of the outer line of a landmark shape, the projective invariant of each of the n sections is calculated using the following equation: ${I(k)} = \frac{{\det \left( {X_{5}X_{1}X_{4}} \right)}{\det \left( {X_{5}X_{2}X_{3}} \right)}}{{\det \left( {X_{5}X_{1}X_{3}} \right)}{\det \left( {X_{5}X_{2}X_{4}} \right)}}$ ${where},\begin{matrix} {{{X_{1}(k)} = \left( {{X(k)},{Y(k)},1} \right)},} \\ {{{X_{2}(k)} = \left( {{X\left( {\frac{N}{5} + k} \right)},{Y\left( {\frac{N}{5} + k} \right)},1} \right)},} \\ {{{X_{3}(k)} = \left( {{X\left( {\frac{2N}{5} + k} \right)},{Y\left( {\frac{2N}{5} + k} \right)},1} \right)},} \\ {{{X_{4}(k)} = \left( {{X\left( {\frac{3N}{5} + k} \right)},{Y\left( {\frac{3N}{5} + k} \right)},1} \right)},} \\ {{X_{5}(k)} = \left( {{X\left( {\frac{4N}{5} + k} \right)},{Y\left( {\frac{4N}{5} + k} \right)},1} \right)} \end{matrix}$


13. The apparatus of claim 5, wherein if the shape of the second outer line is an oval, the distance/orientation information analyzer transforms an equation for a cubic section of the oval into a cubic section equation for a perfect circle and obtains information on the orientation and distance of the determined landmark with respect to the autonomous vehicle from the relationship equation between the two conic section equations.
 14. The apparatus of claim 13, wherein, when a vector n normal to an image plane corresponding to the transformed perfect circle, is (0 0 1)^(T), a vector ct′ to the center of the perfect circle is (0−dc/f d)^(T), and the difference (c) between the coordinates of the center of the perfect circle and the center of the cubic section extracted from the landmark image is {square root}{square root over ((α−1)(γ+f²))} (where α is $\frac{\lambda_{2}}{\lambda_{1}},$

and γ is ${{- f^{2}}\frac{\lambda_{2}}{\lambda_{1}}},$

a normal vector of the originally-acquired oval, n, is U Rn′, a vector to the center of the originally-acquired oval, ct, is U Rct′, and a normal distance of the oval, d, is λ₁ ^(3/2)Y.
 15. An autonomous vehicle having a self-localization function, comprising: an image acquiring unit capturing a landmark image received from a camera in a predetermined image format; a main controller performing a self-localization function and an overall control for operating the autonomous vehicle, in response to the landmark image captured by the image acquiring unit; and a movement controller controlling the movement of the autonomous vehicle in response to the control of the main controller, wherein the main controller comprises: a feature data extractor extracting first and second outer line information and shape information from the landmark image; a projective invariant calculator calculating a projective invariant from the shape information; a data storage unit storing the calculated projective invariant and reference projective invariants for a plurality of landmarks in the form of a hash table; a hash table search unit determining which landmark corresponds to the landmark image, by comparing the calculated projective invariant with the projective invariants for the plurality of reference landmarks; and a distance/orientation information analyzer analyzing information on the distance and orientation of the determined landmark with respect to the autonomous vehicle in response to the first and second outer line information.
 16. A method of determining the location of an autonomous vehicle, the method comprising: extracting first and second outer line information and shape information from a landmark image received from a camera; calculating a projective invariant from the shape information and storing the projective invariant in the form of a hash table; determining which landmark corresponds to the landmark image, by comparing the calculated projective invariant with projective invariants for a plurality of reference landmarks stored in a predetermined data storage area in the form of a hash table; and analyzing information on the distance and orientation between the determined landmark and the autonomous vehicle in response to the first and second outer line information.
 17. The method of claim 16, wherein the landmark comprises: a first outer line area having the first outer line information used to distinguish the X and Y axes of an image plane upon self-localization of the autonomous vehicle; a second outer line area having the second outer line information used to ascertain a deviation degree between the camera and the determined landmark upon acquisition of the image plane; and a shape area having the shape information used to distinguish the landmarks from one another.
 18. The method of claim 17, wherein the first outer line area has a shape of a rectangle where the X and Y axes cross each other at a right angle.
 19. The method of claim 17, wherein the second outer line area has a shape of a perfect circle with a predetermined radius.
 20. The method of claim 16, wherein the projective invariant maintains a constant value without being affected by changes in the shape of the landmark image received from the camera.
 21. The method of claim 20, wherein when P denotes an object point, and q denotes an image point corresponding to the object point P, the projective invariant is calculated using the following equation: $I = {\frac{{\det \left( {q_{5}q_{1}q_{4}} \right)}{\det \left( {q_{5}q_{2}q_{3}} \right)}}{{\det \left( {q_{5}q_{1}q_{3}} \right)}{\det \left( {q_{5}q_{2}q_{4}} \right)}} = \frac{{\det \left( {P_{5}P_{1}P_{4}} \right)}{\det \left( {P_{5}P_{2}P_{3}} \right)}}{{\det \left( {P_{5}P_{1}P_{3}} \right)}{\det \left( {P_{5}P_{2}P_{4}} \right)}}}$

wherein det (·) is defined as: ${\det \left( {q_{1}q_{2}q_{3}} \right)} = {f\begin{bmatrix} x_{1} & x_{2} & x_{3} \\ y_{1} & y_{2} & y_{3} \\ 1 & 1 & 1 \end{bmatrix}}$ ${\det \left( {P_{1}P_{2}P_{3}} \right)} = {{f\begin{bmatrix} X_{1} & X_{2} & X_{3} \\ Y_{1} & Y_{2} & Y_{3} \\ 1 & 1 & 1 \end{bmatrix}} = {2^{k}\left( {{Area}\quad {of}\quad \Delta \quad P_{1}P_{2}P_{3}} \right)}}$


22. The method of claim 16, wherein calculating and storing a projective invariant comprises: dividing the outer line of the landmark shape into n sections; obtaining coordinates of points that constitute the n sections; and calculating the projective invariants of the coordinates by moving the coordinates by 1/N times the length of the outer line until the coordinates reach their original locations.
 23. The method of claim 22, wherein when 1≦k≦N, and X(k) and Y(k) denote X- and Y-axis coordinate functions, respectively, of the outer line of a landmark shape, the projective invariant of each of the n sections is calculated using the following equation: ${I(k)} = \frac{{\det \left( {X_{5}X_{1}X_{4}} \right)}{\det \left( {X_{5}X_{2}X_{3}} \right)}}{{\det \left( {X_{5}X_{1}X_{3}} \right)}{\det \left( {X_{5}X_{2}X_{4}} \right)}}$ ${where},\begin{matrix} {{{X_{1}(k)} = \left( {{X(k)},{Y(k)},1} \right)},} \\ {{{X_{2}(k)} = \left( {{X\left( {\frac{N}{5} + k} \right)},{Y\left( {\frac{N}{5} + k} \right)},1} \right)},} \\ {{{X_{3}(k)} = \left( {{X\left( {\frac{2N}{5} + k} \right)},{Y\left( {\frac{2N}{5} + k} \right)},1} \right)},} \\ {{{X_{4}(k)} = \left( {{X\left( {\frac{3N}{5} + k} \right)},{Y\left( {\frac{3N}{5} + k} \right)},1} \right)},} \\ {{X_{5}(k)} = \left( {{X\left( {\frac{4N}{5} + k} \right)},{Y\left( {\frac{4N}{5} + k} \right)},1} \right)} \end{matrix}$


24. The method of claim 16, wherein analyzing information on the distance and orientation between the determined landmark and the autonomous vehicle comprises: transforming an equation for a cubic section of an oval into a cubic section equation for a perfect circle if the shape of the second outer line is the oval; and obtaining information on the orientation and distance of the determined landmark with respect to the autonomous vehicle from the relationship equation between the two conic section equations.
 25. The method of claim 24, wherein, when a vector n′ normal to an image plane corresponding to the transformed perfect circle is (0 0 1)^(T), a vector ct′ to the center of the perfect circle is (0 ▪ dc/f d)^(T), and the difference (c) between the coordinates of the center of the perfect circle and the center of the cubic section extracted from the landmark image is {square root}{square root over ((α−1)(γ+f²))} (where α is $\frac{\lambda_{2}}{\lambda_{1}},$

and γ is ${{- f^{2}}\frac{\lambda_{2}}{\lambda_{1}}},$

a normal vector of the originally-acquired oval, n, is U Rn′, a vector to the center of the originally-acquired oval, ct, is U Rct′, and a normal distance of the oval, d, is λ₁ ^(3/2)Y.
 26. A computer recording medium which stores a computer program for executing the method of claim
 16. 